Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file Behavior.cpp

 * @brief Contains basic functions for the structure of all behaviors.

 * 

 * Contains function implementations needed for all behavior.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Alex Zirbel

 **/

#include "Behavior.h"

using namespace std;

bool Behavior::keep_running;

/**

 * Constructs a behavior and sets up all control classes.

 *

 * This constructor is used by all behaviors which inherit the Behavior

 * class, so that it is easy to create a behavior with access to ROS

 * functionality through the control classes.

 *

 * @param scoutname If nonempty, specifies which scout in the simulator

 *                  will be controlled by this behavior.

 */

Behavior::Behavior(string scoutname, string my_name, Sensors * sensors)

{

    name = my_name;

    keep_running = true;

    sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor,

                        &wl_sender, &wl_receiver, &paintboard, &metal_detector);

    wl_receiver->register_callback(std::bind(&Behavior::default_callback,

        this, std::placeholders::_1));

    loop_rate = new ros::Rate(10);

}

/**

 * Cleans up after a behavior is killed.

 */

Behavior::~Behavior()

{

  motors->set_sides(0, 0, MOTOR_ABSOLUTE);

  spinOnce();

  delete wl_receiver;

  delete loop_rate;

}

/**

 * Empty callback used as default callback for wireless receiver.

 */

void Behavior::default_callback(vector<uint8_t> data)

{

  return;

}

/**

 * Allows the behavior to check ros::ok(), without being aware of ROS.

 */

bool Behavior::ok()

{

    return keep_running;

}

/**

 * Allows the behavior to call ros::spin(), without being aware of ROS.

 */

void Behavior::spin()

{

    ros::spin();

    return;

}

/**

 * Allows the behavior to call ros::spinOnce(), without being aware of ROS.

 */

void Behavior::spinOnce()

{

    ros::spinOnce();

    return;

}

/**

 * Calls ros::spinOnce() in a loop until the duration is up.

 */

void Behavior::wait(float duration)

{

    ros::Rate r(WAIT_HZ);

    int ticks = int(duration * 100);

    for (int i = 0; i < ticks; i++)

    {

        spinOnce();

        r.sleep();

    }

}